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stepper: Track if using units of radians instead of millimeters

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The STEPPER_BUZZ command needs to know if the axis is using radians
instead of millimeters so that it can move a more appropriate
distance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-12-04 18:42:59 -05:00
parent bcf10aa990
commit 97d976fc53
3 changed files with 23 additions and 9 deletions
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3
klippy/kinematics/polar.py
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@ -9,7 +9,8 @@ import stepper, homing
class PolarKinematics:
def __init__(self, toolhead, config):
# Setup axis steppers
stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'))
stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'),
units_in_radians=True)
rail_arm = stepper.PrinterRail(config.getsection('stepper_arm'))
rail_z = stepper.LookupMultiRail(config.getsection('stepper_z'))
stepper_bed.setup_itersolve('polar_stepper_alloc', 'a')